import tensorflow.compat.v1 as tf
import sys
import numpy as np
import argparse
import pybullet as p
import pybullet_data
import time

p.connect(p.GUI)  #DIRECT is much faster, but GUI shows the running gait
p.setAdditionalSearchPath(pybullet_data.getDataPath())

p.setGravity(0, 0, -9.8)
p.setPhysicsEngineParameter(fixedTimeStep=1.0 / 60.,
                            solverResidualThreshold=1 - 10,
                            numSolverIterations=50,
                            numSubSteps=4)
#this mp4 recording requires ffmpeg installed
#mp4log = p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4,"humanoid.mp4")

p.loadSDF("stadium.sdf")
#p.loadURDF("plane.urdf")

objs = p.loadMJCF("mjcf/humanoid_symmetric_no_ground.xml",
                  flags=p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
human = objs[0]
ordered_joints = []
ordered_joint_indices = []

parser = argparse.ArgumentParser()
parser.add_argument('--profile')

jdict = {}
for j in range(p.getNumJoints(human)):
  info = p.getJointInfo(human, j)
  link_name = info[12].decode("ascii")
  if link_name == "left_foot": left_foot = j
  if link_name == "right_foot": right_foot = j
  ordered_joint_indices.append(j)

  if info[2] != p.JOINT_REVOLUTE: continue
  jname = info[1].decode("ascii")
  jdict[jname] = j
  lower, upper = (info[8], info[9])
  ordered_joints.append((j, lower, upper))

  p.setJointMotorControl2(human, j, controlMode=p.VELOCITY_CONTROL, force=0)

motor_names = ["abdomen_z", "abdomen_y", "abdomen_x"]
motor_power = [100, 100, 100]
motor_names += ["right_hip_x", "right_hip_z", "right_hip_y", "right_knee"]
motor_power += [100, 100, 300, 200]
motor_names += ["left_hip_x", "left_hip_z", "left_hip_y", "left_knee"]
motor_power += [100, 100, 300, 200]
motor_names += ["right_shoulder1", "right_shoulder2", "right_elbow"]
motor_power += [75, 75, 75]
motor_names += ["left_shoulder1", "left_shoulder2", "left_elbow"]
motor_power += [75, 75, 75]
motors = [jdict[n] for n in motor_names]


class Dummy:
  pass


dummy = Dummy()
dummy.initial_z = None


def current_relative_position(jointStates, human, j, lower, upper):
  #print("j")
  #print(j)
  #print (len(jointStates))
  #print(j)
  temp = jointStates[j]
  pos = temp[0]
  vel = temp[1]
  #print("pos")
  #print(pos)
  #print("vel")
  #print(vel)
  pos_mid = 0.5 * (lower + upper)
  return (2 * (pos - pos_mid) / (upper - lower), 0.1 * vel)


def collect_observations(human):
  #print("ordered_joint_indices")
  #print(ordered_joint_indices)

  jointStates = p.getJointStates(human, ordered_joint_indices)
  j = np.array([
      current_relative_position(jointStates, human, *jtuple) for jtuple in ordered_joints
  ]).flatten()
  #print("j")
  #print(j)
  body_xyz, (qx, qy, qz, qw) = p.getBasePositionAndOrientation(human)
  #print("body_xyz")
  #print(body_xyz, qx,qy,qz,qw)
  z = body_xyz[2]
  dummy.distance = body_xyz[0]
  if dummy.initial_z == None:
    dummy.initial_z = z
  (vx, vy, vz), _ = p.getBaseVelocity(human)
  more = np.array([z - dummy.initial_z, 0.1 * vx, 0.1 * vy, 0.1 * vz, qx, qy, qz, qw])
  rcont = p.getContactPoints(human, -1, right_foot, -1)
  #print("rcont")
  #print(rcont)
  lcont = p.getContactPoints(human, -1, left_foot, -1)
  #print("lcont")
  #print(lcont)
  feet_contact = np.array([len(rcont) > 0, len(lcont) > 0])
  return np.clip(np.concatenate([more] + [j] + [feet_contact]), -5, +5)


class SmallReactivePolicy(object):

  def __init__(self, name, ob_space, ac_space):
    self.name = name
    with tf.variable_scope(name):
      batch_of_observations = [None] + list(ob_space.shape)
      self.ob = tf.placeholder(dtype=tf.float32, shape=batch_of_observations, name="ob")
      x = self.ob

      width = 256
      self.dense1_w = tf.get_variable("dense1_w", [x.get_shape()[1], width])
      self.dense1_b = tf.get_variable("dense1_b", [width])
      x = tf.nn.relu(tf.matmul(x, self.dense1_w) + self.dense1_b)

      width = 128
      self.dense2_w = tf.get_variable("dense2_w", [x.get_shape()[1], width])
      self.dense2_b = tf.get_variable("dense2_b", [width])
      x = tf.nn.relu(tf.matmul(x, self.dense2_w) + self.dense2_b)

      assert (len(ac_space.shape) == 1)
      width = ac_space.shape[0]
      self.final_w = tf.get_variable("final_w", [x.get_shape()[1], width])
      self.final_b = tf.get_variable("final_b", [width])
      x = tf.matmul(x, self.final_w) + self.final_b
      self.action_node = x

      self.all_variables = tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES,
                                             tf.get_variable_scope().name)

  def act(self, ob):
    a = tf.get_default_session().run(self.action_node, feed_dict={self.ob: ob[None]})
    return a[0]

  def load_weights(self):
    assigns = [(self.dense1_w, weights_dense1_w), (self.dense1_b, weights_dense1_b),
               (self.dense2_w, weights_dense2_w), (self.dense2_b, weights_dense2_b),
               (self.final_w, weights_final_w), (self.final_b, weights_final_b)]
    to_run = []
    feed_dict = {}
    for var, w in assigns:
      ph = tf.placeholder(tf.float32, w.shape)
      to_run.append(tf.assign(var, ph))
      feed_dict[ph] = w
    tf.get_default_session().run(to_run, feed_dict=feed_dict)


def demo_run():
  sess = tf.InteractiveSession(config=tf.ConfigProto(
      inter_op_parallelism_threads=1, intra_op_parallelism_threads=1, device_count={"GPU": 0}))
  pi = SmallReactivePolicy("pi", np.zeros((44,)), np.zeros((17,)))
  pi.load_weights()
  t1 = time.time()
  timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "humanoidTimings.json")

  frame = 0
  while 1:
    obs = collect_observations(human)

    actions = pi.act(obs)

    #print(" ".join(["%+0.2f"%x for x in obs]))
    #print("Motors")
    #print(motors)

    #for m in range(len(motors)):
    #print("motor_power")
    #print(motor_power[m])
    #print("actions[m]")
    #print(actions[m])
    #p.setJointMotorControl2(human, motors[m], controlMode=p.TORQUE_CONTROL, force=motor_power[m]*actions[m]*0.082)
    #p.setJointMotorControl2(human1, motors[m], controlMode=p.TORQUE_CONTROL, force=motor_power[m]*actions[m]*0.082)

    forces = [0.] * len(motors)
    for m in range(len(motors)):
      limit = 15
      ac = np.clip(actions[m], -limit, limit)
      #print (ac)
      forces[m] = motor_power[m] * ac * 0.082
    p.setJointMotorControlArray(human, motors, controlMode=p.TORQUE_CONTROL, forces=forces)

    p.stepSimulation()
    #time.sleep(0.01)
    distance = 5
    yaw = 0
    humanPos, humanOrn = p.getBasePositionAndOrientation(human)
    p.resetDebugVisualizerCamera(distance, yaw, -20, humanPos)
    frame += 1

    if frame == 1000: break
  t2 = time.time()
  print("############################### distance = %0.2f meters" % dummy.distance)
  print("############################### FPS = ", 1000 / (t2 - t1))
  #print("Starting benchmark")
  #logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,"pybullet_humanoid_timings.json")
  #p.stopStateLogging(logId)
  print("ended benchmark")
  print(frame)
  p.stopStateLogging(timinglog)


# yapf: disable
weights_dense1_w = np.array(
    [[
        -0.3857, -0.7450, +0.1473, +0.1996, +0.0570, +0.4522, +0.1172, +0.7558,
        -0.2530, -0.7948, +0.3120, +0.6216, +0.1044, -0.4347, +0.0921, +0.0187,
        +0.2030, +0.2042, -0.2928, +0.2717, +0.5117, +0.1115, -0.0278, -0.0675,
        -0.2967, +0.3128, -0.1434, -0.0476, +0.0561, -0.1874, +0.1675, -0.1028,
        +0.0712, +0.8653, -0.5565, -0.1207, +0.0982, -0.2875, -0.0755, -0.3057,
        -0.0841, +0.5336, +0.2068, -0.0132, -0.2131, -0.5910, +0.1329, +0.2789,
        +0.0036, +0.0048, +0.2655, +0.3585, +0.2861, -0.2288, -0.0646, +0.0569,
        -0.4701, -0.0116, +0.4616, +0.0947, -0.1013, -0.0256, +0.2854, +0.3382,
        +0.0822, +0.1160, -0.4913, +0.3991, +0.0121, -0.3392, +0.2515, +0.7188,
        +0.3412, +0.1247, +0.1422, +0.0420, +0.1401, +0.5830, +0.0226, +0.6080,
        +0.3019, -0.7696, -0.0580, +0.2104, +0.3786, +0.2968, -0.3726, +0.2792,
        +0.3572, -0.4362, +0.5368, +0.0068, +0.4366, -0.4799, +0.2688, +0.1115,
        +0.0251, +0.4107, -0.0358, +0.0198, +0.2563, +0.0315, -0.1143, +0.6191,
        +0.1694, +0.4175, +0.1873, +0.0678, +0.1324, +0.3038, +0.0610, +0.2491,
        -0.2730, +0.2933, +0.1704, +0.1746, +0.1444, -0.2578, +0.3743, +0.3837,
        +0.3294, +0.0433, +0.5242, -0.3465, +0.1618, -0.5255, -0.1703, +0.0420,
        +0.5505, +0.4046, +0.1596, +0.3973, -0.5158, -0.2922, +0.3183, -0.0244,
        +0.3496, +0.4069, -0.1961, +0.2705, -0.1008, -0.4008, -0.1443, -0.2113,
        +0.2064, -0.3466, +0.2565, +0.0279, +0.5785, -0.2918, +0.7262, +0.0285,
        -0.1779, +0.2811, -0.2066, +0.5471, -0.7668, +0.1909, -0.5684, -0.0002,
        +0.2291, -0.0631, +0.0823, +0.5520, -0.3267, +0.0143, +0.4295, +0.2594,
        +0.3523, -0.1266, +0.4412, -0.2685, +0.0863, +0.1779, +0.1280, +0.5087,
        +0.0809, +0.1118, -0.5754, -0.3300, -0.0032, +0.7060, -0.5172, -0.6553,
        -0.0951, -0.0129, +0.1382, -0.0504, -0.2634, +0.2659, -0.1932, -0.3762,
        +0.3072, +0.1612, +0.2942, -0.1438, -0.0850, +0.1877, +0.4726, +0.2751,
        -0.0787, +0.3128, -0.1351, +0.2552, -0.4833, -0.0322, +0.3641, +0.3715,
        -0.1938, +0.5040, -0.0598, +0.0341, +0.6252, -0.2977, +0.2694, +0.0525,
        +0.6295, -0.1007, -0.0406, +0.1028, +0.5181, +0.2201, +0.2269, +0.3724,
        -0.1985, -0.1614, +0.0093, +0.2851, +0.0191, +0.0620, +0.1989, +0.5905,
        +0.5589, +0.1896, +0.3859, +0.1207, -0.0323, +0.3912, +0.2950, +0.3255,
        +0.2765, -0.3384, +0.4286, +0.2692, +0.2889, +0.5955, +0.0918, -0.3228,
        +0.3828, -0.0196, -0.0484, +0.3256, -0.1361, +0.5124, -0.1782, +0.2984
    ],
     [
         -0.3305, -0.5427, +0.1033, -0.8093, -0.6948, +1.0265, +0.2688,
         -0.4297, -0.3887, -0.0335, -0.4224, +0.0902, -0.0416, -0.3621,
         +0.4824, -0.5138, -0.6160, +0.0404, -1.0360, +0.2734, +0.3415,
         -0.7259, -0.3395, -0.2803, +0.6166, +0.3448, +0.3657, +0.0495,
         +0.8924, +0.1673, +0.2726, +1.2509, -0.0482, +0.2982, -0.0817,
         -0.6190, -0.7550, -0.6310, +0.1912, +0.2475, -0.4001, +0.2715,
         -1.3571, -1.2735, +0.4491, +0.0965, +0.3893, -0.1449, +0.5919,
         -0.7355, -0.2579, -0.6447, -0.8400, -1.0339, -0.7232, +0.2704,
         -0.2094, -0.9082, +0.0719, -0.9922, +0.7732, -0.1924, -0.7696,
         -0.3170, -0.3350, -0.3462, +0.3686, +0.7608, -0.3624, +0.0222,
         +0.0152, +0.0056, -0.6305, +0.3649, +0.4987, -0.2182, -0.6930,
         -0.0010, -0.2901, -0.1365, -0.4998, +0.2176, +0.4334, -0.2511,
         +0.5084, -0.4405, +0.8559, -0.4784, +0.0126, -0.1106, +0.8800,
         -0.7713, +0.2210, +0.1882, +0.0233, -0.0679, +0.0100, -0.6957,
         +0.4229, +0.4257, +0.1985, +0.9668, -1.0394, +0.1009, -1.1962,
         -0.6810, -0.8522, -0.9797, -0.4765, +0.6148, -0.1001, +0.1577,
         -0.5535, -0.6540, -0.0717, -1.4224, -0.4940, +0.3266, -0.3978,
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         +0.4338, -0.5244, +0.2214, +0.5298, -0.1770, -0.3549, +0.0541,
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         -0.2086, +0.1251, +0.3633, -0.1052, -0.4214, +0.1419, +0.7749,
         -0.0831, -0.8905, +0.5360, +0.0565, -2.0616, -1.4039, -0.7739,
         +0.2181, +0.3649, +0.2573, -0.1620, -0.2045, -0.4774, +0.4206,
         +0.4216, +0.0844, -0.3038, +0.2918, -1.4121, -1.0846, -0.5310,
         +0.2190, +0.3286, -0.1058, -0.8251, -0.0417, -0.3994, -0.0012,
         +0.4315, +0.1682, -1.1433, +0.2849, -0.5689, -0.3473, +0.6981,
         -0.1699, -0.1203, -1.3225, -0.2436, -0.2331, +0.2366, +0.0377,
         -0.4367, -0.0645, -1.3493, -0.3995, -0.4136, +0.4007, -0.4532,
         +0.1397, -0.4860, +0.7116, -1.0520, -0.7300, +0.9354, +0.2490,
         -0.0118, -0.6467, +1.0208, -0.0185, -0.1010, +0.0259, -0.4621,
         -0.5824, -0.5307, -0.3225, +0.1271, -0.0694, -0.0902, +0.4922,
         +0.2764, -0.1927, -0.2009, -0.8424, +0.0237, -0.0958, +0.3260,
         -1.3182, -0.7006, +0.2267, -0.9277, +0.1478, +0.1729, +0.3861,
         -0.6517, -0.3447, +0.4089, +0.1253, -0.3610, +0.7556, -0.5048,
         -0.8110, +0.1085, -0.9362, -0.8233, +0.4134, -0.0085, -1.5413,
         -0.4102, +0.7793, -1.2224, -0.7392, -0.3367, -0.0849, +0.0131,
         +0.8377, +0.4575, +0.8130, -2.0800
     ],
     [
         -0.5030, +0.4311, -1.1143, -0.2571, +0.0500, +0.6580, +0.1807,
         +0.3972, +1.0069, -1.9235, -0.4153, +1.2305, -0.0986, +1.6550,
         -2.0094, -0.5650, +0.1596, +2.2019, +0.1256, +1.7433, -1.8320,
         +1.2385, +0.2217, +1.9671, -0.0651, -1.5623, +0.6551, -1.0514,
         -0.2327, -0.7264, +1.1247, +0.7084, -3.1100, +2.5875, -0.6701,
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         -0.0467, -0.3069, -1.3131, -1.1489, +0.4462, -0.0183, -0.7812,
         -1.0135, -0.8092, -0.3989, -0.0717, -2.4097, -0.4086, -1.3601,
         +0.4654, -1.2662, +0.9914, -1.6910, -0.4650, -1.1016, +0.0476,
         +0.4011, +0.1599, -0.2772, +0.1293, -0.1329, +2.4128, +0.3290,
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         -0.7160, -0.0253, -0.7524, +0.2129, -0.2267, -0.8073, +0.1843,
         +0.7838, +1.0147, +0.1327, -0.0788, +0.3903, +2.0292, +2.5541,
         +1.6453, -0.1778, -2.1681, -0.1496, -0.3376, +0.4545, +0.2194,
         -1.5197, -1.2230, +3.2199, +1.0545, +0.1571, +0.8699, -4.2024,
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         -0.7450, -1.0840, -0.0150, -3.7617, +1.4254, +0.8361, +0.2078,
         -0.8808, -0.2463, -3.4380, +1.4160, -1.9439, -1.0356, +2.8675,
         +0.9860, -3.6350, -0.8313, +0.2089, +1.3341, -2.8791, +0.4524,
         +0.4555, -0.9851, +0.6086, +0.7343, +1.3275, +1.0979, -2.4916,
         +0.0722, -0.7323, +0.9880, +1.5356, +0.5431, -0.3248, -0.9631,
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         -0.2999, +0.2771, +1.8581, -0.7244
     ],
     [
         -0.8237, -2.4723, -0.0093, -1.0811, +0.5365, +0.6595, -0.5366,
         +1.1555, -0.8875, -1.3330, +1.4121, -0.0944, -0.0463, -0.9496,
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weights_dense2_w = np.array(
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weights_dense2_b = np.array([
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])

weights_final_w = np.array(
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         -0.2470, -0.0572, +0.6183, +0.3531, +0.1321, -0.1687, +0.1307,
         -0.3712, +0.0199, -0.0776
     ],
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         -0.5867, -0.1306, +0.3471, -0.1127, +0.3352, -0.0214, +0.0801,
         -0.1368, -0.7262, +0.1757
     ],
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         +0.0656, -0.3302, -0.0587, -0.0200, -0.5474, -0.0863, +0.2087,
         -0.2581, -0.1750, +0.3391
     ],
     [
         -0.2339, +0.0639, +0.2085, -0.1872, -0.2686, +0.1490, +0.0436,
         -0.0841, -0.1054, -0.4899, +0.0193, -0.0250, +0.2212, +0.0972,
         +0.0329, +0.1328, -0.0545
     ],
     [
         -0.0874, -0.1087, -0.1577, +0.0936, -0.3083, -0.1450, +0.0365,
         -0.1924, -0.0536, +0.0475, +0.0348, +0.0772, +0.0348, -0.2800,
         +0.0864, +0.2640, -0.0215
     ],
     [
         +0.0745, +0.4503, -0.4064, +0.6300, -0.1275, -0.0463, -0.4074,
         +0.0031, +0.1408, +0.0531, +0.1400, +0.0308, -0.0220, -0.0014,
         -0.3056, -0.1551, -0.0096
     ],
     [
         +0.1479, +0.1186, +0.1323, -0.3466, -0.0654, -0.1084, -0.2509,
         +0.0944, -0.2135, +0.2020, +0.0602, -0.1239, +0.0741, +0.2037,
         -0.4462, +0.1065, +0.1710
     ]])

weights_final_b = np.array([
    -0.0274, +0.1314, -0.0578, +0.2965, +0.1318, -0.0622, +0.1158, +0.0643,
    +0.2138, -0.1422, +0.1579, +0.0836, -0.0388, -0.0933, +0.2233, -0.2276,
    +0.0375
])
# yapf: enable

if __name__ == "__main__":
  demo_run()